CN107614308A - Generalized Autonomic robot driver system - Google Patents
Generalized Autonomic robot driver system Download PDFInfo
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- CN107614308A CN107614308A CN201680025983.1A CN201680025983A CN107614308A CN 107614308 A CN107614308 A CN 107614308A CN 201680025983 A CN201680025983 A CN 201680025983A CN 107614308 A CN107614308 A CN 107614308A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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Abstract
Disclose for by the robot system and method for vehicle drive to destination.Robot system is configured as being arranged in vehicle, and the robot system obtains the view data of the surroundings outside of at least one of view data of vehicle interior and vehicle using imaging system, and handles the view data obtained by the imaging system using control system.The control system is configured as identifying the view data of the positioning indicator of car two at least one of view data of the inside of vehicle, and from its determination at least vehicle status data.Control system is suitable to determine road condition data from the view data of surroundings outside, and analyzes at least vehicle status data and road condition data to generate for the control instruction along driving path vehicle.
Description
Technical field
The present invention pertains generally to robot driver system regions.
Background technology
Driving maneuver vehicle is more dull, repeats, is time-consuming and expensive the task of (in view of manpower) (according on " Self-
driving cars:The next revolution " KPMG reports (2012) for average commuter for it is annual about
250 hours).About the 93% of traffic accident is caused due to mistake, and this also causes driving maneuver vehicle to turn into danger
Task.The life of thousands of casualties is seized in traffic accident every year, and cause with hospitalization, therapeutic treatment and nursing with
And the very big expense of car breakdown association (annual hundreds billion of dollars are reported as according to KPMG).
In order to be driven for various different tasks and application (such as, testing vehicle performance, military operation etc.) instead of the mankind
The person of sailing and development machines people's control loop.The solution proposed so far generally implements costliness and is very difficult to permit/award
Power operation surface car.
From such as example United States Patent (USP) 4,742,720,5,172,589,5,270,628,5,363,027,5,394,743,
5,816,106th, some known automations of the patent document described in 5,821,718,7,628,239 and 8,051,936 drive
System.However, these automation control loops need human operator who to system to drive vehicle along planned orbit/path
Control and instruction are provided, and are not designed to provide the general-purpose platform that can be used together with any ground/motor vehicles.
The content of the invention
There is a need in the art for can be mechanically coupled to ground/motor vehicles of any types/model and operate its actuating
For the automation control loop towards destination driving automotive universal in the sense that device (steering wheel, pedal and/or control-rod).
Also need to transmit data in the not control with vehicle and/or computerized system in this area and do not have in vehicle operating task
The mankind can drive the automation control loop of vehicle with autonomous operation vehicle and towards expectation destination in the case of intervening.
The invention provides a kind of low weight and low cost, easily assembling and the system of Generalized Autonomic robot easily installed
System, the Generalized Autonomic robot system are configured and are operable as operating surface car and are driven to desired destination.
The present invention robot system be configured as and be operable as being secured to any surface car (for example, car, van,
Truck, tractor etc.) pilot set, be mechanically coupled to vehicle pedal, steering wheel and/or control-rod (here by
Collectively referred to as actuator), continuously acquire and analyze vehicle interior and its view data of surroundings outside.Robot system processing
Acquired view data, from its determination vehicle and road condition data, and vehicle and road condition number based on determined by
According to it is determined that control operator/instruction.Therefore, system then in order to towards destination along projected route safe driving vehicle and
Change the state of one or more actuators of vehicle using control operator/instruction.
Actuator totally refers to different system (such as, but not limited to, the side for operating vehicle as used herein the term
To disc system, gear train, acceleration system, brakes, clutch system, engine igniting system, vehicle car photosystem, scrape
Water heater system, hand brake system etc.) Mechanical course (for example, steering wheel, control-rod, knob/switch etc.).
The instrument that positioning indicator totally refers to indicate vehicle-state as used herein the term (is such as arranged on vehicle
(for example, speedometer, engine temperature indicator, engine angular velocitdy indicator, fuel-level indicator, battery in control panel
Charge amount indicator etc.)).
Road condition data can indicateVehicleSurroundings outside acquired image in the outer barrie that identifies
Thing (for example, neighbouring vehicle/bicycle, pedestrian, podium etc.) and/or traffic rules mark/lamp.Road condition data can
With including by other sensors obtain and/or (for example, passing through wireless Internet communication) wireless receiving other data (such as but
It is not limited to, traffic loading, weather condition, rate limitation, the applicable average car in the specific road section during one day specific hour
Speed etc.).
Vehicle status data can indicate speed, the motor condition such as identified in the acquired image of the control panel of vehicle
(temperature, angular speed), fuel oil and/or battery status, it is such.Alternatively and in some embodiments preferably, vehicle
Some or all of status data is by the way that robot system to be connected to the controlling bus (if this bus presence) of automobile
Or by wired connection or wirelessly (for example, CAN, is also known as perturbed controller) directly from vehicle receiver.Car
Status data can include other data (such as, but not limited to, the steering wheel for being obtained and/or wirelessly being obtained by other sensors
Current state (angular displacement), the pedal and/or the current state of control-rod, battery charge history etc. of vehicle).
Alternatively and in some embodiments preferably, robot system receives via suitable input unit from user
Destination, and be at least partially based on obtained from the interior magazine of system and/or from can by data network access it is long-range
The navigation data that data storage/service wirelessly obtains is determined for vehicle to be driven into indicated purpose from its current location
The route on ground.The current location of vehicle can using any suitable location technology (for example, triangulation) come determine or by with
Family (for example, via intelligent apparatus) provides.Preferably, robot system includes being used for continuous monitoring vehicle towards expectation purpose
The alignment system (for example, global positioning system/GPS module) and/or Inertial Measurement Unit (IMU) of the motion on ground.
In some possible embodiments, technology can be determined using vision to monitor motion of the vehicle along route.
It is, for example, possible to use vision ranging is handled to analyze a series of images of outside vehicle surrounding environment, one is identified in the picture
Or more stationary objects, it is determined that the stationary objects and the distance of vehicle that are identified, and based on identified distance, according to when
Between determine vehicle movement.
Route determination processing can use the other information collected during traveling by robot system (such as but unlimited
In road condition data (for example, traffic loading) and/or vehicle status data (for example, fuel oil and/or battery status)).Such as
And do not limit, if fuel oil/battery status of vehicle status data instruction vehicle is low, robot system can determine to be included in
At petrol and/or battery charging/switching station of the energy of more new vehicle it is one or more stoppings, arrive destination
Variation route.Similarly, if traffic loading of the road condition data instruction along determined route, robot system can be true
Surely variation route road, to destination of less load is used.
One inventive concept of theme disclosed herein is related to a kind of be used for the system of robot of vehicle drive to destination
System.The robot system is configured as being arranged in vehicle, and is arrived vehicle drive using imaging system and control system
Destination.System obtains at least one of view data of the inside of vehicle and the exterior circumferential of vehicle using imaging system
The view data of environment.Control system handles and analyzed the view data obtained by imaging system.
Control system identifies the picture number of the positioning indicator of car two at least one of view data of vehicle interior
According to, and from its determination at least vehicle status data.Control system also determines road like from the view data of surroundings outside
State data.Control system also analyze it is at least one in vehicle status data and road condition data, and based on analysis generation
For the control instruction along driving path vehicle.
Preferably, come using the actuator-operated system for the actuator for being connected to vehicle according to the control generated by control unit
System instruction controllably changes the mode of operation of actuator.
Alternatively and in some embodiments preferably, control system receives the positional number of the current location of instruction vehicle
According to and road data, and be at least partially based on received position data and road data determines to be used for vehicle drive to mesh
Ground route.In some embodiments, the current location of vehicle is determined using positioning unit.System can also include nothing
Line communication unit, the wireless communication unit are used to enter row data communication with remote computer system (server).Some embodiment party
Control system in formula is suitable to receive at least road data via wireless communication unit.
In some embodiments, data are transmitted with user using user interface section.In possible application, control
System is suitable to receive at least destination data via user interface section.Alternatively and in some embodiments preferably, use
Family interface unit includes data communication equipment, and the data communication equipment can be used for transmitting data with user's set.So, user fills
Put can be come using the data communication equipment of user interface section it is at least one in receiving position data and road data.Becoming
In body, voice input device is used to receive audible instruction from user via user interface section.Such as and do not limit, audible instruction
It is at least one in being instructed with vehicle operating to indicative purpose.In addition, audio output device can be used for via user interface list
Member exports audible information to user.
Alternatively and in some embodiments preferably, the different parts of robot system are (for example, imaging system, control
System processed and actuator-operated system) it is arranged on supporting member (for example, one or more support frames), the support structure
Part is configured as and is operable as securing the system to the pilot set of vehicle.
In possible embodiment, actuator-operated system includes at least brake pedal system, gas pedal behaviour
Vertical system and steering wheel operating system.Alternatively and in some embodiments preferably, steering wheel operating system resilience
Supporting member is connected to, to allow steering wheel operating system to be translated at it while the angular movement of steering wheel operating system is prevented
Motion at least one in axis.In possible application, actuator-operated system also includes at least one control-rod and grasped
Vertical system, at least one control-rod steerable system can be used at least gear train of actuated vehicle.However, control lever operation system
System can be also used for parking brake, lamp, wiper and/or other activation knob/switches and the control-rod of abrupt deceleration vehicle.
Imaging system is used for the image for obtaining the positioning indicator on the control panel of instruction vehicle in some embodiments
Data, and obtain the preceding view data of the forward exterior surrounding environment of instruction vehicle.Although imaging system can use single
Imager cells obtain required imaging data, but in some embodiments, use at least two Imager cells.Such as
And do not limit, panel Imager cells are used to obtain the view data of the positioning indicator on the control panel of instruction vehicle, and
Forword-looking imaging device is used for the preceding view data for obtaining the forward exterior surrounding environment of instruction vehicle.
Alternatively and in some embodiments preferably, imaging system also includes rear Imager cells, the rear imager
Unit is used for the backsight view data for obtaining the surroundings outside of vehicle.
In some applications, imaging system is additionally configured to obtain the left view of the surroundings outside of instruction vehicle and by car
The reflection of left side speculum left side backsight at least one view data, and be configured as obtaining instruction vehicle
The right side of surroundings outside regards and by least one view data in the right side backsight of the right side speculum reflection of vehicle.Example
As and do not limit, imaging system can use left Imager cells come obtain indicate vehicle surroundings outside left view and by
At least one view data in the left side backsight of the left side speculum reflection of vehicle, and obtained using right Imager cells
Fetching shows that the right side of the surroundings outside of vehicle regards and by least one in the right side backsight of the right side speculum reflection of vehicle
View data.
Another inventive concept of theme disclosed herein is related to a kind of be used for the side of vehicle autonomous driving to destination
Method.In some embodiments, method comprises the following steps：Receive the instruction at least outside of the positioning indicator of vehicle and vehicle
View data in surrounding environment；At least at least state of positioning indicator and vehicle are identified in the view data received
Object in surroundings outside, and vehicle and road condition data are generated based on the state and object identified respectively；With
And it is at least partially based on vehicle status data and road condition data are generated for the control instruction along driving path vehicle.
Alternatively and in some embodiments preferably, method comprises the following steps：Receive the present bit of instruction vehicle
The position data put；And the route to destination is determined based on position data.Identification step includes in some embodiments
Detected in view data at least one in road track and road curve；And generation instruction road track and road curve
In at least one track data.The track data generated can be used for the possibility of the safety navigation vehicle in driving road should
In.
Method comprises the following steps in possible embodiment：It is at least one in the identified object of tracking；And
Generation indicates the track data of the track of the object.Track data can be used for determining at least one in route and generation control instruction
It is individual.
Brief description of the drawings
In order to understand the present invention and check how it can essentially be carried out, only shown now with reference to accompanying drawing with non-limiting
The mode of example describes embodiment.Feature shown in the drawings means to illustrate only some embodiments of the present invention, unless in addition
Implicit instruction.In the accompanying drawings, same reference is used to indicate corresponding part, and in the accompanying drawings：
Figure 1A and Figure 1B is the block diagram according to the robot driver system of some possible embodiments；
Fig. 2A to Fig. 2 D schematically illustrates the possibility of the robot system for the pilot set for being secured to surface car
Embodiment；
Fig. 3 is the block diagram according to the imaging system of some possible embodiments；
Fig. 4 is the block diagram exemplified with the control program according to some possible embodiments；And
Fig. 5 A to Fig. 5 C schematically illustrate another possible embodiment of robot system, wherein, Fig. 5 A are systems
Stereogram, Fig. 5 B are the profiles of the base assembly of system, and Fig. 5 C are the profiles of the vertical support component of system.
Embodiment
One or more embodiments of the disclosure are described below with reference to accompanying drawings, these embodiments are all
Aspect, which is considered to, to be only exemplary and does not limit in any way.In order to provide the concise description of these embodiments, no
It is that all features of actual embodiment all describe in the description.Element illustrated in accompanying drawing needs not be equal proportion, and emphasis is anti-
And it is placed in the principle for illustrating the present invention.The present invention can be specific with other in the case of without departing from necessary characteristic described herein
Form and embodiment provide.
Present invention aims at provide a kind of low weight and low cost, easily assembling and the robot driver system easily installed
System, the robot driver system can be quickly mounted on any surface car by common vehicle user/owner.Here institute
The robot driver system of description is designed to be secured to the all-purpose robot of the pilot set of any surface car
Navigate driver.Robot driver system use direction disk steerable system, one or more pedal control systems and/or one
Or more control-rod and/or knob steerable system be mechanically coupled to the actuator of vehicle, to operate vehicle and towards predetermined
Destination drives vehicle.Therefore, can be placed in the pilot set of any ground/motor vehicles the invention provides a kind of
And perform in order to which the institute for operating vehicle and driving vehicle towards expectation destination and traditionally realized by human driver is functional
General-purpose system.
The picture number of the surroundings outside of vehicle and its inside is continuously acquired using the imaging system of robot system
According to.Handle and analyze by imaging system from the surroundings outside of vehicle and the internal view data obtained, to determine respectively
Line state data and vehicle status data.
Road and vehicle status data are determined from acquired image using the control system of robot system, and extremely
It is at least partly based on road and/or vehicle status data and/or from the interior magazine of vehicle and/or from can be visited by data network
The navigation data that the remote data store/server asked wirelessly obtains determines the drive route to intended destination.Accordingly,
Change steering wheel, the pedal of vehicle to be at least partially based on road and vehicle status data and identified drive route
And/or the state of control-rod/knob, control system generate control operator/instruction of the steerable system for operation robot,
It is expected destination to be driven to by vehicle safety.
Figure 1A and Figure 1B is that schematic illustration operates according to the autonomous robot of the surface car of some possible embodiments
Block diagram.Figure 1A is shown using control unit 11a to handle and analyze one of the view data received from imaging system 12
Or more stream autonomous robot system 10 reduction procedure.Control unit 11a is configured and is operable as from view data
Received streams determine road and vehicle status data, and the status data at least based on determined by, generate for towards pre-
Determine control operator/instruction that destination drove/manipulated vehicle.Actuator-operated device controller 11b uses are by control unit 11a
Control operator/instruction of generation carrys out manipulation system 29, to change one or more actuators of vehicle (for example, oil
Door pedal, brake pedal, parking brake, steering wheel, gear lever, indicator control-rod, wiper control stalk etc.) mode of operation.
Control unit 11a can also use the data received from actuator-operated device controller 11b to generate control computing
Symbol/instruction.Such as and do not limit, in some embodiments, executor controller 11b is configured and is operable as from sensor
Unit (for example, encoder, Figure 1A not shown in) reception state data, the status data carry in actuator-operated system 29
For, and indicate the mode of operation of the pedal of vehicle, control-rod and/or knob.It is alternatively and preferred in some embodiments
Ground, executor controller 11b are configured and are operable as from computer/data system of vehicle (such as by being connected to its number
According to bus (for example, CAN)) obtain status data at least a portion.So, backfeed loop is obtained, the backfeed loop is permitted
Perhaps control unit 11a based on executor controller 11b from sensor unit, from actuator-operated system 29 and/or from vehicle
The status data that computer/data system is collected be adaptively adjusted be provided to executor controller 11b control operator/
Instruction.The configuration makes it possible for advanced Driving control scheme (for example, being generated using fuzzy logic and nerual network technique
Control operator/instruction).
In some embodiments, the communication between control unit 11a and actuator-operated device controller 11b is for advanced
Universal Asynchronous Receive/transmission (UART) connection is instructed and fed back through to carry out.However, it is possible to without departing from the scope of the present invention
Communicated with being similarly used in the case of spirit based on any suitable serial or parallel bus data (for example, USB, CAN are total
Line, Ethernet, WiFi).
Alternatively and in some embodiments preferably, imaging system 12 includes at least two imaging units：Interior imaging
Unit 12b and outer imaging unit 12a.Interior imaging unit 12b is configured and is operable as obtaining the image Ib of vehicle interior, these
Image instruction vehicle-state (such as the indicator of the control panel including vehicle and/or show the control-rod of vehicle, knob and/or
The mode of operation of pedal).Outer imaging unit 12a is configured and is operable as obtaining the image Ia of the surroundings outside of vehicle,
These images instruction road condition is (for example, road direction, traffic sign, traffic lights, possibility barrier for being present on road etc.
Deng).
It is noted however that in some possible embodiments, in the image Ia and vehicle of outside vehicle surrounding environment
The image Ib in portion is obtained by means of single imager unit.Such as and do not limit, this single imager unit can by with
Being set to acquisition includes both view data Ia of the surroundings outside and view data Ib of vehicle interior and (that is, while obtains
View data in need) non-constant width the visual field.Addition or alternatively, removable/rotatable imager list can be used
Member sequentially obtains surroundings outside Ia and vehicle interior Ib.Addition or alternatively, can use optical unit (speculum,
Lens, optical branching device) combine the view data Ia of the surroundings outside in the different zones of same imaging sensor
With the view data Ib of vehicle interior, to be assembled into single image frame.
In figure ia, control unit 11a is configured and is operable as determining from the image Ib obtained by interior imaging unit 12b
The data of vehicle-state are indicated, especially including car speed, the temperature of engine and angular speed, fuel oil and/or battery status, car
Pedal, the mode of operation etc. of control-rod and/or knob.Road condition data in acquired image by identifying road
And/or the direction in track, neighbouring vehicle and/or pedestrian, traffic sign, signal lamp, pavement and/or podium are from by outer imaging
The image Ia that unit 12a is obtained is determined by control unit 11a.It is at least partially based on extracted road and vehicle-state number
According to, control unit 11a determines the need for changing the state of Vehicular actuator, and therefore generation control operator/instruction, with
By the state of executor controller 11b regulation Vehicular actuators.
Figure 1B is the block diagram for other possible embodiments for showing robot driver system 10.In the non-limiting example
In, executor controller 11b is connected to actuator-operated system 29, and the actuator-operated system includes gas pedal steerable system
24th, brake pedal system 25, steering wheel operating system 23 and control-rod/knob actuator 26.
Control-rod/knob actuator 26 is suitable to various button/knob, key, gear shaft and/or the parking brakes of operation vehicle.
In some possible embodiments, the clutch that robot driver system 10 also includes being configured and be operable as to operate vehicle is stepped on
The clutch pedal steerable system (not shown) (if so needing) of plate.
Executor controller 11b is configured and is operable as receiving the control operator/refer to generated by control unit 11a
Order, and therefore activate it is one or more in actuator-operated system 29 (23,24,25 and/or 26), from actuator-operated
Sensor unit (being respectively 23e, 24e, 25e and 26e) reception state data (for example, angle positioning) of system 29, and will
Status data is sent to control unit 11a.As also seen in fig. ib, the number between imaging system 12 and control unit 11a
According to communication can be bidirectional data communication, with allow to imaging system 12 offer control instruction, these control instructions for example for
Adjust imaging system optical element and/or one or more the image of imager obtain direction.
Man-machine interface (HMI) unit 16 can be used for from user input data and/or to user's output data.Such as and not
Limitation, HMI units 16 can be configured and be operable as via voice input device 16m (for example, using one or more wheats
Gram wind) from user voice data (for example, indicative purpose and/or position data) and/or instruction are received (for example, starting, stopping
Only, driving or other this instructions), and data and instruction are sent to control unit 11a.HMI units 16 can be from control
Unit 11a Rreceive output data, and using audio output device 16s (for example, using one or more loudspeakers) to
Family generates corresponding voice data.Therefore, HMI units 16 can use known any suitable speech recognition and language in field
Sound generation technique.
HMI units 16 can use any suitable input/output device (for example, small using data communication units 16c
Keyboard/keyboard, indicator device, LCD/ video displays, touch-screen or touch pad etc.) and user's communicating digital data.It is optional
Ground and in some embodiments preferably, data communication units 16c includes radio communication device 16r, the radio communication device
For by HMI units 16 and user's set 16u (for example, the intelligence of such as tablet personal computer, smart phone or laptop computer fills
Put) wirelessly transmit data (for example, using the optical communication of such as infrared communication, such as WiFi, bluetooth, near-field communication NFC,
Zigbee radio communication).Such as and do not limit, intelligent apparatus/phone 16u of user is used for intelligent apparatus 16u
Positioning function (for example, GPS and/or base station triangulation) be supplied to the destination data of robot system 10 and/or positional number
According to.Similarly, intelligent apparatus 16u can be also used for being supplied to the map of system 10 (for example, using Google Maps (Google
MapsTM)) and/or navigation data (for example, using WazeTM)。
Alternatively or in addition, data communication units 16c can also include cable connector 16u, and the cable connector is used
In by serial or parallel communication cable (for example, using Universal Serial agreement USB) and user's set (for example, intelligence
Energy device) transmit data.Control unit 11a can be configured as (all via the various types of information of cable connector 16u receptions
Such as but it is not limited to, road data, map datum, position data, one or more destinations, gas station and/or battery charging
Position stood etc.).
Alternatively, and in some embodiments preferably, robot system 10 includes wireless communication unit 15, and this is wireless
Communication unit 10 is used for one or more remote computer system/servers 19 (for example, being made by WiFi or cellular network
With access to the Internet) transmit data.Control unit 11a can be configured and be operable as directly taking by wireless communication unit 15
Obtain map and/or navigation data.Wireless communication unit 15 can be used for obtaining to by vehicle drive to the related difference in destination
The information (such as, but not limited to traffic loading data, weather condition/forecast, the position etc. of gas station/charging station) of type.
Alternatively, and in some embodiments preferably, in order to ensure safety and ensure, to by/use robot driver
System 10 performs at least some encryptions of the data communication of (by electric wire and/or wirelessly progress).Any suitable encryption side
Case (such as DES, RSA, SHA) can be used for the purpose.
Robot system 10 can also include alignment system 18, and the alignment system 18 uses GPS and/or Inertial Measurement Unit
(IMU) position of the internal vehicle using robot system 10 is continuously determined.So, control unit 11a can give any
Fix time and the position of vehicle is determined based on the positioning/bearing data received from alignment system 18, monitor the traveling towards destination
Progress, and it is thus determined that control operator/instruction for actuator-operated controller 11b.Alternatively or in addition, from fixed
Bit location 18 obtains or derived location data can communicate via wireless communication unit 15, with by remote server/service
19 handle and are generated to the navigation data of destination.
The power supply 17 of robot system 10 is also show in Figure 1B, the power supply is used for single to the difference of robot system 10
Member/device power supply.Built-in rechargeable battery (not shown) can be used for power supply 17, or alternatively, and robot system 10 can be with
It is configured and is operable as being connected to the power supply of vehicle.
Robot system 10 can also include safety and monitoring unit 18, and the safety and monitoring unit are configured and operable
To receive and handling by the control unit 11a status datas determined and from different actuator-operated systems by actuator-operated device
The status data that controller 11b is obtained, to ensure that all unit/devices of system 10 properly and safely operate.In some realities
Apply in mode, the input data of safety and the monitored each unit/device of the analysis of monitoring unit 18, to ensure its validity and matter
Amount (for example, the image of checking from imaging system reception is unsaturated or is blocked), and the output of evaluation module, to ensure to be obtained
The result obtained is in acceptable opereating specification.If recognizing problem, safety and monitoring unit 18 are issued to user and indicated
Corresponding instruction/alarm of identified problem and/or by the instruction/alarm record in system 10.Such as and do not limit, safety and
Monitoring unit 18 can identification problem it is serious when stop.In some embodiments, safety and the quilt of monitoring unit 18
Configure and be operable as monitoring the state of the operation of the motor (referring to Fig. 2A and Fig. 2 B) of actuating system and the power supply 17 of system 10.
Fig. 2A and Fig. 2 B respectively illustrate driver according to some possible embodiments, being secured to surface car 20
The front and rear stereogram of seat 20a robot driver system 10.In the non-limiting example, robot system 10 is by fastening
Framework 22 is fastened to pilot set 20a, and the fastening frame has bedframe 22a, and the bedframe is immovably fixed
To pilot set 20a base；With support frame 22b, the support frame is connected to bedframe 22a, and irremovable
Ground is fixed to pilot set 20a back support portion 20b.The supporting member 22c of carrying steering wheel steerable system 23 can connect
Bedframe 22a and/or support frame 22b is connected to, or is connected to the crosspoint of these frameworks.
Alternatively, and in some embodiments preferably, base and support frame 22a and 22b are movably hinged to
Each other, to allow the angular movement of framework relative to each other.Supporting member 22c can also movably be hinged to framework 22a and 22b
In one or be hinged to their crosspoint, to allow supporting member 22c relative at least one in framework 22a and 22b
Angular movement.In some embodiments, as illustrated in Fig. 2 D, the supporting member 22c of carrying steering wheel steerable system 23 is by electricity
Cable and/or be attached to 22s it is at least one in framework 22a and/or 22b, so as to be supplied to steering wheel operating system flat
Move axis (i1、i2、i3) on one-movement-freedom-degree and prevent from being supplied to steering wheel operating system 23 while its rotation/angular movement
Keep the intensity needed for supporting member 22c.The particular orientation and/or supporting member 22c phases of framework 22a and 22b relative to each other
Locking mechanism (for example, 22q) can be used to lock at least one orientation in framework 22a and 22b, to realize framework
Expectation angle between at least one in expected angle and supporting member 22c and framework 22a and 22b between 22a and 22b
Degree.
In the non-limiting example, imaging system 12 is arranged on support frame 22b.Note, however, in possible reality
Apply in mode, the various imaging units of imaging system 12 may be mounted at support frame 22b diverse location/go up, base frames
At frame 22a and/or supporting member 22c diverse location/on.As Fig. 2A and Fig. 2 B also illustrated in, including control unit 11a and cause
Dynamic device executor controller 11b control system 11 can be immovably secured at least one in framework 22a and 22b.
However, the control unit of control system 11 similarly can immovably be attached to any one in framework 22a and 22b
And/or supporting member 22c.
The steering wheel operating system 23 carried by supporting member 22c is attached to the steering wheel system 20w of vehicle 20, and by
Configure and be operable as the direction for being made vehicle 20 by means of motor 23m and gear 23g structures (for example, using worm gear rotor assembly)
Disk 23f rotates.Steering wheel operating system 23 can be configured as by means of with multiple fin members 28p (Fig. 2A, Fig. 2 B and
Three this fins are shown in Fig. 2 D) propeller structure 28 be attached and rotate steering wheel 20w, and via gear train
23g is mechanically coupled to motor 23m rotatable axis.Propeller structure 28 is attached to gear train 23g rotatable axis
23h, and the fin members 28p of propeller structure from its direction disc system 20w framework 23f are radially extended, and by
Their free end is attached to steering wheel 20w framework 23f.
Fin members 28p propeller structure 28 can be by any suitable clamping tool (for example, using U-shaped spiral 23t
And nut) it is attached to steering wheel system 20w framework 23f.This arrangement provides one kind to allow user by steering wheel operating system
23 are rapidly and easily connected to steering wheel 23w simple attachment scheme.In addition, the fin members using propeller structure 28
The motor 23m framework 23f in rotary moving for being transferred to steering wheel system 20w, the use are utilized in the side of being supplied to by 28p
To disk along translated axis line i2And i3(wherein, i1With steering wheel 23f rotation axis WxIt is parallel or overlap) mobile a certain freedom
By motor 23m direction of actuation disks 20w while spending.
Such as Fig. 2 D illustrations, in some embodiments, the supporting member 22c of steering wheel operating system 23 is by band and/or electricity
Cable 22s is attached at least one in fastening frame 22.In the specific non-limiting example, supporting member 22c is attached by band 22s
Bedframe 22a is connected to, however, it can be similarly attached to both support frame 22b or framework 22a and 22b.By band/
Cable 22s attachment supporting members 22c provides flexibility/elastic connection between steering wheel steerable system 23 and fastening frame 22, should
Steering wheel operating system is supplied to while being connected to the angular movement for preventing steering wheel operating system along translated axis line i1、i2With
And i3Certain mobile single-degree-of-freedom.Thus, steering wheel operating system 23 is supplied to using cable/this attachment scheme with 22s
To the non-rigid connection of fastening frame 22, the connection allows the motor 23m of steering wheel operating system 23 restricted movement, so as to solve
The problem of certainly being associated with the rotating part for the steering wheel system 20w and motor 23m that feels relieved, and make it possible to reduce in order that direction
The actuating power that disc system 20w framework 23f rotates and applied by motor 23m.
Fig. 2A and Fig. 2 B also show gas pedal steerable system 24 and brake pedal system 25, and gas pedal manipulates
System 24 and brake pedal system 25 are respectively immovably attached to bedframe 22a, and including being mechanically coupled to
The moveable leg of corresponding pedal.
Gas pedal steerable system 24 includes electro-motor 24m (for example, servo motor), and the electro-motor is immovably
It is attached to bedframe 22a support beam 22p；Rotatable control-rod 24r, it is connected to motor the rotary controlled pole making machine tool
24m axle and moveable leg 24f.Moveable leg 24f is hinged to rotatable control-rod 24r at its one end, so as to form knee shape
Joint 24j, and moveable leg 24f is mechanically coupled to gas pedal 20c by its free end.So, motor 24m axle and machinery
The rotary motion for being connected to its control-rod 24r is converted into gas pedal by the moveable leg 24f for being connected to gas pedal 20c
20c's pushes or pulls on actuating.
Similarly, brake pedal system 25 includes electro-motor 25m (for example, worm gear motor), and the electro-motor is not
It is movably attached to bedframe 22a support beam 22p；With rotatable control-rod 25r, join the rotary controlled pole making machine tool
It is connected to motor 25m axle and moveable leg 25f.Moveable leg 25f is hinged to rotatable control-rod 25r at its one end, so as to
Knee shape joint 25j is formed, and moveable leg 25f is mechanically coupled to brake pedal 20k by its free end.So, motor 25m
Axle is converted into oil with the rotary motion for being mechanically coupled to its control-rod 25r by the moveable leg 25f for being connected to gas pedal 20c
Door pedal 20c's pushes or pulls on actuating.
Referring now to Fig. 2 C, in some embodiments, moveable leg 24f and 25f use " C " shape coupling member respectively
(or fixture) 24g and 25g is connected to their corresponding pedal 20c and 20k, coupling member be configured as bag pedal at least certain
Around a part of, and for example it is rigidly secured to the part using fixing bolt.Obviously, in the non-limiting example, leg
24f and 25f is hinged to their corresponding " C " shape coupling member 24g and 25g, and this is formed for allowing leg 24f and 25f and they
The simple joint design 24x and 25x of angular movement between corresponding coupling member 24g and 25g.
In the non-limiting example, vehicle 20 be it is a kind of can by limited quantity actuator (including gas pedal 20c,
Brake pedal 20k and steering wheel 20w) operation electric vehicle.It therefore, there is no need to and controlled not shown in Fig. 2A and Fig. 2 B
Lever operation system (for example, gear train for operating vehicle) and clutch operating system.However, this steerable system can be with
Using such as easily implementing for the mechanism in steerable system 24,25 and/or 23 that is described herein and illustrating.Similarly,
Robot driver system 10 can include one of various button/knobs, key, gear shaft and/or the parking brake for operating vehicle
Or more this steerable system.Thus, robot driver system 10 can be readily adapted to be arranged on it is any manually or automatically
In vehicle.
Pay attention to, the embodiment for the robot system 10 described in Fig. 2A and Fig. 2 B is designed to and right-hand traffic/driving
Vehicle is used together.It should be understood that this is not limitation of the present invention, and robot system 10 can also similarly match somebody with somebody
It is set to the control of operation left-hand traffic/driving vehicle.
Fig. 3 is the block diagram for showing the imaging system 12 according to some possible embodiments.In the non-limiting example,
The interior imaging unit 12b of imaging system 12 includes panel imaging unit 41, the panel imaging unit include it is one or more into
As device, one or more imagers are configured and are operable as obtaining the control panel 20x of vehicle 20 image (in Fig. 3 to show
Go out only one imaging unit 41).The outer imaging unit 12a of imaging system 12 includes preceding imaging unit 42, the preceding imaging unit bag
Include and be configured and be operable as the front view picture for obtaining the surroundings outside of vehicle (for example, the windshield as passed through vehicle
What 30w saw) one or more imagers；Imaging unit 43 afterwards, the rear imaging unit are used for the outside week for obtaining vehicle
The rearview picture (for example, as speculum (windshield speculum) 20n via vehicle sees) in collarette border.
Alternatively, in some embodiments, imaging system 12 is using removable/rotatable Imager cells, these into
Camera, omnirange camera, standard camera head or its combination that for example can be installed as device unit using PAN-TIL are come from each
The different visual field (FOV) order of kind obtains view data.Alternatively or in addition, imaging system 12 can include optical unit
(for example, lens, speculum, optical branching device), these optical units are used to allow imaging system by the figure from various different FOV
As data are collected and are combined in the different zones of same imaging sensor simultaneously.So, imaging system can be greatly decreased
The quantity of 12 imager.For example, in certain embodiments, control panel 20x figure is collected using single imager unit
The front view picture of picture and outside vehicle surrounding environment.
In some embodiments, the outer imaging unit 12a of imaging system 12 also includes left side imaging unit 46, the left side
The left side view picture that imaging unit is used to obtain the surroundings outside of vehicle through driver's side window 30f (for example, as seen
), and/or left side rearview picture (for example, as seen via the left side visual reflex mirror 20f of vehicle).Similarly, right side is imaged
The right side view picture that unit 45 can be used for obtaining outside vehicle surrounding environment through preceding passenger's side window 30r (for example, as seen
), and/or right side rearview picture (for example, as seen via the right side visual reflex mirror 20r of vehicle).
Alternatively and in some embodiments preferably, preceding imaging unit 42 uses stereoscopic imaging technology (these technologies
Using two imagers 42f and 42r) position come the object that determines to be imaged by preceding imaging unit 42 in three dimensions (that is, uses
In addition depth information).In some possible embodiments, other imaging unit (such as left side and right side imaging units 46
With this stereoscopic imaging technology 45) can be used.The imaging unit of imaging system 12 can use any kind of any suitable
Imager (such as, but not limited to, FLEA3,1.3M pixel of grey point (Point Grey) company, 30FPS colour GigE cameras)
To implement.However, in some embodiments, obtained in imaging system 12 using single imager unit all required
View data (that is, control panel 20x, front view picture, rearview picture, the view data of left side view picture and right side view picture),
The single imager unit carrys out the FOV and/or simultaneously of expanded images using rotatable/removable imager and/or optical unit
Combine the different images data on the different sensors region of imager.
Imaging system 12 can include one or more controls and/or processing unit 12c, one or more controls
And/or processing unit 12c is configured and is operable as receiving to be obtained by the imager of imaging unit 41,42,43,45 and/or 46
Image, and transfer them to control system 11 with handle.In some possible embodiments, the control of imaging system 12
System/processing unit 12c can include image processing hardware and/or software, and the processing hardware and/or software are configured and operable
To handle and analyzing the image obtained by imaging unit, and determine to be transported by the control that control unit 11 is generated for driving vehicle
Outwardly and inwardly status data needed for operator/instruction.
Fig. 4 is the block diagram 40 exemplified with the components and functionality of the control unit 11a according to some possible embodiments.At this
In non-limiting example, control unit 11a is using position determination module 3t come based on from positioning/orientation that alignment system 18 receives
Data determine the position (for example, Universal Terrestrial positions and/or on road-map) of vehicle, and generate the position for indicating the position
Put data., can fusion/combination in position determination module 3t if alignment system 18 includes both GPS and IMU units
Location/position data from these units, to improve the accuracy of the real world of vehicle positioning and understanding, so as to improve
Generate the precision of position data.Such as and do not limit, Kalman filter can at least partly be used for be based on by GPS and/or IMU
The positioning of unit generation/bearing data generation position data.
Control unit 11a image processing module 3e is used for according to the view data (Ia and Ib) received from imaging system 12
Determine road and/or vehicle status data.Control unit 11a route planning and monitoring modular 3r are used to generate route, monitor
Along the progress of the traveling of generated route, and it is at least partially based on the position data generated by alignment system 18 and by scheming
Decision-making is carried out as the processing module 3e roads generated and/or vehicle status data.Route planning and monitoring modular 3r are also at least
Be based partially on received position data and road and/or vehicle status data generation steering instructions (for example, acceleration/deceleration,
Parking, left-hand rotation or right-hand rotation, changing Lane etc.).Control unit 11a actuator control module 3c uses are by planning and monitoring mould
Block 3r generation steering instructions come generate by actuator-operated device controller 11b be used for manipulation system control operator/
Instruction.
Route planning and monitoring modular 3r can be configured and be operable as being at least partially based on by position determination module 3t
The position data of generation, the road/map received via wireless communication unit 15 from remote data base/server (19) and/or
Navigation data, from the graphics processing unit 3e roads received and/or vehicle status data monitor the row along generated route
The progress sailed.
In some possible embodiments, the storage/storage of road/map and/or navigation data from control unit 11a
Unit 3b (for example, magnetic optical disk, flash memory etc.) is obtained.Similarly, the intended destination of traveling can be from storage/storage element
3b is obtained, and is used to generate route by route planning and monitoring modular 3r.Therefore, in some possible embodiments, machine
Device people control loop 10 can be implemented in the case of no wireless communication unit 15.
In some possible embodiments, image processing module 3e comprises at least object detection (OD) part m1, object
(OT) part m2 and road/lane detection (RD) part m3 is followed the trail of, these parts are used for (for example, being calculated using vision/mapping
Method) generation road and vehicle status data at least some parts.Object detection part m1 be configured and be operable as from into
Identification object is (for example, vehicle/bicycle, pedestrian, traffic sign/signal lamp/traffic in the view data received as system 12
Island, pavement, control panel indicator etc.), and generate the object data of denoted object.By object detection part m1 generations
Object data is for being driven to destination by vehicle safety and preventing that accident and/or traffic events from being necessary.Object tracing
Part m2 is configured and is operable as expecting the track of the various objects by object detection part m1 identifications, and generates instruction rail
The track data of mark.Road/lane detection part m3 is configured and is operable as the view data that detection receives from imaging system
In track and road curve, and generate instruction track and road curve track data.By road/lane detection part m3
The track data of generation are used for the safety navigation in driving road by robot driver system 10, and in order to which vehicle is maintained
Needed on road track, to allow track switching (if desired) and carry out Road turnings.
Object data, track data and track data from graphics processing unit 3e are provided to path planning/prison
Unit 3r is surveyed, in the path planning/monitoring unit, these data are used to determine the emergency route that vehicle will drive wherein.
Fig. 5 A show the robot system 50 according to some possible embodiments, and Fig. 5 B and Fig. 5 C show system
50 base assembly 51 and the profile of vertical support component 52.Reference picture 5A, base assembly 51 are configured as being attached securely
To pilot set, and vertical support component 52 is configured as being fixedly attached to the rear back braces of pilot set.One
In a little embodiments, vertical support component 52 is pivotally articulated to base assembly 51.
As seen in fig. 5, vertical support component 52 includes two apertures 52r and 52f, the two holes at an upper portion thereof
Serve as the light entrance aperture for preceding imaging unit 42 in footpath.Referring now to Fig. 5 C, vertical support component 52 include be used for house into
As unit 42 and the upper compartment 52c of alignment system 18.More specifically, the imager 42f and 42r and aperture 52r of imaging unit 42
With 52f alignment at upper compartment 52c side, and alignment system 18 positions between them.Intermediate compartment 52i is used
In the computer system 55 (for example, electric energy on knee) of receptacle system, it is configured as implementing the control system being described above
With imaging system/DSP function.
Fig. 5 B show the profile of base assembly 51, and the base assembly includes front support framework 51f, the front support framework
It is configured as accommodating and keeps electro-motor 25m；Front support framework 51r, front support framework 51r are configured as accommodating and kept
Electro-motor 24m；And rear support framework 51e, the rear support framework are configured as accommodating and keep electro-motor 24m and 25m
And Fig. 2 shown in system other elements circuit driver 51d.
As be described above and in associated drawings shown in, the invention provides a kind of all-purpose robot control loop
10/50 and method, the all-purpose robot control loop be configured and be operable as being arranged on any ground/motor vehicles
It is interior, for by vehicle autonomous driving to expectation/intended destination.As it will be appreciated, the robot driver system of the present invention provides
It is a kind of to be used for the simple solution that any vehicle remoulding is autonomous vehicle, this may be advantageously used with it is a variety of should
With (such as, but not limited to, agricultural, transport, mining industry, cleaning, daily patrol, dispatching), and for aiding in disabled person/shortcoming row
For the driver of ability personage, old man, visual impairment and sleepiness.
The disparate modules for the control unit 11a being described above may be implemented as software in some embodiments
And/or hardware module or its combination.The function for the robot driver system 10/50 being described above can be by by based on meter
Instruction that the control system of calculation machine performs is controlled, and the computer based control system can be housed in control system 11.
It can for example include being connected to the one of communication bus suitable for the control system that the embodiment with being described above is used together
Individual or more processor, one or more volatile memory (for example, random access memory ram) non-volatile are deposited
Reservoir (for example, flash memory).Additional storage is (for example, hard disk drive, removable Storage driver and/or removable Storage core
Piece (such as EPROM, PROM or flash memory)) can be used for storage to be loaded into data in computer system, computer program or
Other instructions.
For example, computer program (for example, computer control logic) can be loaded into main storage from additional storage, with
Performed by one or more processors of control system 11.Alternatively or in addition, computer program can be via communication
Interface receives.This computer program causes computer system to be able to carry out the present invention's as discussed here when executed
Special characteristic.Specifically, computer program causes control processor to be able to carry out and/or to perform the present invention when executed
Feature.Therefore, this computer program can implement the controller of computer system.
In the embodiment using software implementation of module and/or unit of robot driver system 10/50, software can be with
It is stored in computer program product, and calculating is loaded into using removable Storage driver, storage chip or communication interface
In machine system.Control logic (software) causes control processor to perform this hair as described herein when being performed by control processor
Bright specific function.
In another embodiment, the module of robot driver system 10/50 and/or the main use example of the feature of unit
As hardware component (such as application specific integrated circuit (ASIC) or field programmable gate array (FPGA)) is implemented within hardware.Hardware shape
State machine is embodied as performing function described herein will be obvious to various equivalent modifications.In another possible embodiment
In, feature of the invention can be implemented using hardware and software combination of the two.
Although it have been described that only certain exemplary embodiments of this invention, however, it will be understood that because those skilled in the art
Particularly can be with view of foregoing teaching be modified, so the invention is not restricted to this.Such as technical staff it will be understood that, the present invention can
To be carried out in a wide variety of ways using more than one technology from above-mentioned embodiment, these modes are all without departing from this
The scope of invention.
Claims (22)
1. a kind of be used for the robot system of vehicle drive to destination, wherein, the robot system is configured as setting
In the vehicle and including：
Imaging system, the imaging system are configured and are operable to obtain at least one of image of the inside of the vehicle
The view data of the surroundings outside of data and the vehicle；With
Control system, the control system are configured and are operable to handle and analyze the figure that is obtained by the imaging system
As data, and the positioning indicator of car two is identified at least one of described image data of the inside of the vehicle
View data and determine road from its determination at least vehicle status data, and from the described image data of surroundings outside
Status data, and at least vehicle status data and the road condition data are used for along the road with generating described in analysis
Drive the control instruction of the vehicle.
2. system according to claim 1, the system also includes actuator-operated system, the actuator-operated system quilt
Configure and be operable to be connected to the actuator of the vehicle and referred to according to the control generated by described control unit
Order changes the mode of operation of the actuator in which can control.
3. system according to claim 1 or 2, wherein, the control system is configured and is operable to receive instruction
The position data and road data of the current location of the vehicle, and it is at least partially based on the position data and the road
Data are determined for the route by the vehicle drive to the destination.
4. system according to claim 3, the system includes positioning unit, and the positioning unit is configured and can operated
To determine the current location of the vehicle.
5. the system according to claim 3 or 4, the system includes wireless communication unit, the wireless communication unit by with
Put and be operable to enter row data communication with remote computer system with least described via wireless communication unit reception
Road data.
6. system according to any one of the preceding claims, the system includes being used for transmitting data with user to receive
The user interface section of at least described destination data.
7. system according to claim 6, wherein, the user interface section includes data communication equipment, and the data are led to
T unit is configured and is operable to transmit data with user's set to receive the position via the data communication equipment
It is at least one in data and the road data.
8. the system according to claim 6 or 7, the system includes voice input device, and the voice input device is used for
Received via the user interface section from user indicate it is at least one audible in the destination and vehicle operating instruction
Instruction.
9. the system according to any one of claim 6 to 8, the system includes audio output device, the audio output
Device is used to export audible information to the user via the user interface section.
10. the system according to any one of claim 2 to 9, wherein, the part of the robot system is arranged on support
On component, the supporting member is configured as and is operable to the system being fixed to the pilot set of the vehicle.
11. system according to claim 10, wherein, the actuator-operated system includes at least brake pedal system
System, gas pedal steerable system and steering wheel operating system.
12. system according to claim 11, wherein, it is connected to the support structure to the steering wheel operating system resilience
Part, to allow the steering wheel operating system along its translation shaft while the angular movement of the steering wheel operating system is prevented
The motion of at least one translated axis line in line.
13. the system according to claim 11 or 12, wherein, the actuator-operated system also includes at least one control
Lever operation system, at least one control-rod steerable system are configured and are operable to activate at least gear train of the vehicle
System.
14. system according to any one of the preceding claims, wherein, the imaging system is configured as obtaining instruction institute
The view data of the positioning indicator on the control panel of vehicle is stated, and is obtained around the forward exterior for indicating the vehicle
The preceding view data of environment.
15. system according to claim 14, wherein, the imaging system includes at least two Imager cells, described
At least two Imager cells include：For obtaining the institute of the positioning indicator on the control panel for indicating the vehicle
State the panel Imager cells of view data and the preceding figure of the forward exterior surrounding environment of the vehicle is indicated for obtaining
As the forword-looking imaging device of data.
16. the system according to claims 14 or 15, wherein, the imaging system includes rear Imager cells, after this into
It is used for the backsight view data of the surroundings outside for obtaining the vehicle as device unit.
17. the system according to any one of claim 14 to 16, wherein, the imaging system is additionally configured to acquisition and referred to
Show in the left view of the surroundings outside of the vehicle and the left side backsight by the left side speculum reflection of the vehicle
At least one view data, and be configured as acquisition and indicate that the right side of the surroundings outside of the vehicle regards and by institute
State at least one view data in the right side backsight of the right side speculum reflection of vehicle.
18. system according to claim 17, wherein, the imaging system includes：Left Imager cells, the left imager
Unit is used to obtain the left view for the surroundings outside for indicating the vehicle and the left side speculum by the vehicle
At least one described image data in the left side backsight of reflection；With right Imager cells, the right Imager cells are used to obtain
Fetching shows the right side that the right side of the surroundings outside of the vehicle regards and reflected by the right side speculum of the vehicle
At least one described image data in backsight.
19. it is a kind of using system according to any one of the preceding claims by the side of Vehicular automatic driving to destination
Method, it the described method comprises the following steps：
Receive the view data of the surroundings outside of the positioning indicator for indicating at least described vehicle and the vehicle；
The state of at least described positioning indicator and the exterior circumferential of the vehicle are identified in the view data received
Object in environment, and the vehicle status data and the road condition are generated based on the state and object identified respectively
Data；And
It is at least partially based on the vehicle status data and road condition data generation control instruction.
20. according to the method for claim 19, it the described method comprises the following steps：Receive the present bit for indicating the vehicle
The position data put and the route based on position data determination to the destination.
21. the method according to claim 19 or 20, wherein, include the step of the identification：In described image data
Detect it is at least one in road track and road curve, and in generation instruction road track and road curve this at least one
The individual track data that can be used in navigating to the vehicle on the road driven.
22. the method according to any one of claim 19 to 21, the described method comprises the following steps：What tracking was identified
Track data that is at least one and generating the track for indicating the object in object, and it is determined that described in the route and generation
The track data is used at least one in control instruction.
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| PCT/IL2016/050453 WO2016178213A1 (en) | 2015-05-05 | 2016-05-02 | Universal autonomous robotic driving system |
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| CN107614308A true CN107614308A (en) | 2018-01-19 |
| CN107614308B CN107614308B (en) | 2020-06-26 |
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| EP (1) | EP3292014B1 (en) |
| JP (1) | JP7023116B2 (en) |
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Also Published As
| Publication number | Publication date |
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| CN107614308B (en) | 2020-06-26 |
| ES2891338T3 (en) | 2022-01-27 |
| US10613544B2 (en) | 2020-04-07 |
| JP7023116B2 (en) | 2022-02-21 |
| EP3292014B1 (en) | 2021-07-14 |
| EP3292014A4 (en) | 2019-01-02 |
| WO2016178213A1 (en) | 2016-11-10 |
| IL255095A0 (en) | 2017-12-31 |
| JP2018520408A (en) | 2018-07-26 |
| IL255095B (en) | 2021-05-31 |
| US20180284801A1 (en) | 2018-10-04 |
| EP3292014A1 (en) | 2018-03-14 |
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